A new algorithm for dynamic decoupling control of HPMSM using fuzzy controllers

This paper proposes a novel fuzzy control algorithm aiming at the dynamic decoupling of the Halbach array permanent magnet spherical motor (HPMSM). Computed torque method (CTM) is applied to the dynamic model of the HPMSM. Due to the estimating errors of the parameters, which are recognized as structured uncertainties, the model errors can not be eliminated in practice. Moreover, the external disturbances, which are called unstructured uncertainties, can not be ignored. Dynamic performances deterioration is caused by the uncertainties. Then fuzzy controllers are introduced into the CTM structure to alleviate the effect of the uncertainties. Simulations are made, which indicate that the influences of inter-axis nonlinear couplings are eliminated effectively, and dynamic decoupling control is actualized. The HPMSM with the proposed algorithm has excellent performances in nutational motion, by which the capacity of globally torque control is greatly tested. Simulations also refer that the proposed algorithm can make the system track continues trajectory ideally with strong robustness to uncertainties.